Minimum Pseudoweight Analysis of 3-Dimensional Turbo Codes

In this work, we consider pseudocodewords of (relaxed) linear programming (LP) decoding of 3-dimensional turbo codes (3D-TCs). We present a relaxed LP decoder for 3D-TCs, adapting the relaxed LP decoder for conventional turbo codes proposed by Feldman in his thesis. We show that the 3D-TC polytope is proper and $C$-symmetric, and make a connection to finite graph covers of the 3D-TC factor graph. This connection is used to show that the support set of any pseudocodeword is a stopping set of iterative decoding of 3D-TCs using maximum a posteriori constituent decoders on the binary erasure channel. Furthermore, we compute ensemble-average pseudoweight enumerators of 3D-TCs and perform a finite-length minimum pseudoweight analysis for small cover degrees. Also, an explicit description of the fundamental cone of the 3D-TC polytope is given. Finally, we present an extensive numerical study of small-to-medium block length 3D-TCs, which shows that 1) typically (i.e., in most cases) when the minimum distance $d_{\rm min}$ and/or the stopping distance $h_{\rm min}$ is high, the minimum pseudoweight (on the additive white Gaussian noise channel) is strictly smaller than both the $d_{\rm min}$ and the $h_{\rm min}$, and 2) the minimum pseudoweight grows with the block length, at least for small-to-medium block lengths.Comment: To appear in IEEE Transactions on Communication

Fast and robust anchor calibration in range-based wireless localization

In this paper we investigate the anchor calibration problem where we want to find the anchor positions when the anchors are not able to range between each other. This is a problem of practical interest because in many systems, the anchors are not connected in a network but are just simple responders to range requests. The proposed calibration method is designed to be fast and simple using only a single range-capable device. For the estimation of the inter-anchor distances, we propose a Total Least Squares estimator as well as a L1 norm estimator. Real life experiments using publicly available hardware validate the proposed calibration technique and show the robustness of the algorithm to non-line-of-sight measurements

Multiresolution analysis as an approach for tool path planning in NC machining

Wavelets permit multiresolution analysis of curves and surfaces. A complex curve can be decomposed using wavelet theory into lower resolution curves. The low-resolution (coarse) curves are similar to rough-cuts and high-resolution (fine) curves to finish-cuts in numerical controlled (NC) machining.;In this project, we investigate the applicability of multiresolution analysis using B-spline wavelets to NC machining of contoured 2D objects. High-resolution curves are used close to the object boundary similar to conventional offsetting, while lower resolution curves, straight lines and circular arcs are used farther away from the object boundary.;Experimental results indicate that wavelet-based multiresolution tool path planning improves machining efficiency. Tool path length is reduced, sharp corners are smoothed out thereby reducing uncut areas and larger tools can be selected for rough-cuts

Continuous Blooming of Convex Polyhedra

We construct the first two continuous bloomings of all convex polyhedra. First, the source unfolding can be continuously bloomed. Second, any unfolding of a convex polyhedron can be refined (further cut, by a linear number of cuts) to have a continuous blooming.Comment: 13 pages, 6 figure

A New Approach for Grasp Quality Calculation using Continuous Boundary Formulation of Grasp Wrench Space

In this paper, we aim to use a continuous formulation to efficiently calculate the well-known wrench-based grasp metric proposed by Ferrari and Canny which is the minimum distance from the wrench space origin to the boundary of the grasp wrench space. Considering the L∞ role= presentation style= box-sizing: border-box; margin: 0px; padding: 0px; display: inline-block; line-height: normal; font-size: 16.200000762939453px; word-spacing: normal; word-wrap: normal; white-space: nowrap; float: none; direction: ltr; max-width: none; max-height: none; min-width: 0px; min-height: 0px; border: 0px; position: relative; \u3e metric and the nonlinear friction cone model, the challenge of calculating this metric is to determine the boundary of the grasp wrench space. Instead of relying on convex hull construction, we propose to formulate the boundary of the grasp wrench space as continuous functions. By doing so, the problem of grasp quality calculation can be efficiently solved as typical least-square problems and it can be easily implemented by employing off-the-shelf optimization algorithms. Numerical tests will demonstrate the advantages of the proposed formulation compared to the conventional convex hull-based methods